Aerial robots are widely deployed, but highly cluttered environments such as dense forests
remain inaccessible to drones and even more so to swarms of drones. In these scenarios …

This letter presents a new online multi-agent trajectory planning algorithm that guarantees to
generate safe, dynamically feasible trajectories in a cluttered environment. The proposed …

Mobile robots, including ground robots, underwater robots, and unmanned aerial vehicles,
play an increasingly important role in people's work and lives. Path planning and obstacle …

Autonomous microhelicopters will soon play a major role in tasks like search and rescue,
environment monitoring, security surveillance, and inspection. If they are further realized in …

Recent works in aerial robotics show that the self-organized and cohesive flight of swarms
can emerge from the exchange of purely local information between neighboring agents …

This article presents MADER, a 3-D decentralized and asynchronous trajectory planner for
UAVs that generates collision-free trajectories in environments with static obstacles …

Quadrotors are among the most agile flying robots. However, planning time-optimal
trajectories at the actuation limit through multiple waypoints remains an open problem. This …

The use of aerial swarms to solve real-world problems has been increasing steadily,
accompanied by falling prices and improving performance of communication, sensing, and …

Abstract Purpose of Review Currently, there is a large body of research on multi-agent
systems addressing their different system theoretic aspects. Aerial swarms as one type of …

This letter presents a data-driven decentralized trajectory optimization approach for multi-
robot motion planning in dynamic environments. When navigating in a shared space, each …